CN108366229B - Intelligent inspection method for fixed-point equipment - Google Patents
Intelligent inspection method for fixed-point equipment Download PDFInfo
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- CN108366229B CN108366229B CN201810141554.1A CN201810141554A CN108366229B CN 108366229 B CN108366229 B CN 108366229B CN 201810141554 A CN201810141554 A CN 201810141554A CN 108366229 B CN108366229 B CN 108366229B
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- 238000007689 inspection Methods 0.000 title claims abstract description 193
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000010295 mobile communication Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
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- 238000004364 calculation method Methods 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000013024 troubleshooting Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
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Abstract
The invention discloses an intelligent inspection method for fixed-point equipment, which comprises the following steps: s1, selecting the pointing device to be inspected, and setting at least one and at most six inspection shooting surfaces for each pointing device; s2, setting a routing inspection route according to all selected pointing devices; s3, storing the inspection route in the inspection robot; s4, the inspection robot advances along the inspection route; s5, the inspection robot reaches a first pointing device on the inspection route, and an image of each inspection shooting surface of the pointing device is obtained; s6, compressing the primary image; s7, fusing the secondary images to obtain a patrol inspection image of the fixed point equipment; s8, sending the inspection image to a monitoring center in a wireless mode; s9, repeating S4-S8 until the inspection images of all the pointing devices are acquired; and S10, finishing the inspection for one time. The invention can accurately acquire the state information of the pointing device and accurately determine the time when the pointing device fails.
Description
Technical Field
The invention relates to the technical field of inspection, in particular to an intelligent inspection method for a fixed point device.
Background
In many locations, there are a large number of pointing devices, such as substations, weather stations or factories, which often require condition detection to ensure stable and healthy operation.
The existing detection methods for the pointing device mainly adopt two methods, one is real-time monitoring, usually, a camera is fixed beside the pointing device in a one-to-one correspondence manner, and continuous video recording or intermittent photographing is performed on the camera, so that the state of the pointing device is obtained in time, and the other is inspection, and manual or robot inspection is performed on time, so that the state of the pointing device is obtained.
By adopting the real-time monitoring method, although the timely state information of the pointing device can be acquired, the most accurate state detection can be realized, when the number of the pointing devices is large, the cost of the device is high, the amount of the detected state information is huge, and a large burden is caused to the transmission and processing of the detected information.
The inspection method is adopted, if the inspection is carried out manually, time and labor are wasted, the efficiency is low, extra manpower is required to be occupied, and along with the development of the technology, more and more inspection robots are put into use. But it also has certain not enough to patrol and examine the robot, to a fixed point equipment, can't carry out the shooing of many sides simultaneously, leads to having certain time difference between the many sides photo of an equipment, to some equipment sensitive to time, leads to easily that accurate judgement fault time can't be judged to increase the degree of difficulty of troubleshooting. And sometimes some side images may not show the state of the pointing device at all, such as side illumination of the housing, and these unimportant photographs need to be processed during processing, wasting computing resources.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an intelligent routing inspection method for a pointing device, which can save calculation power and reduce network occupation while ensuring that the state information of the pointing device is accurately acquired, and can accurately determine the time when the pointing device fails.
In order to achieve the purpose, the invention adopts the specific scheme that:
an intelligent routing inspection method for fixed-point equipment comprises an early preparation stage and a later execution stage;
the early preparation phase includes S1 to S3:
s1, selecting the pointing device to be inspected, and setting at least one and at most six inspection shooting surfaces for each pointing device;
s2, setting a routing inspection route according to all selected pointing devices;
s3, storing the inspection route in the inspection robot;
the post execution stage includes S4-S10:
s4, the inspection robot advances along the inspection route;
s5, the inspection robot arrives at a first pointing device on the inspection route, and an image of each inspection shooting surface of the pointing device is obtained and recorded as a primary image;
s6, compressing the primary image by the inspection robot to obtain a secondary image;
s7, fusing the secondary images by the inspection robot to obtain an inspection image of the fixed point equipment;
s8, the inspection robot sends the inspection image to a monitoring center in a wireless mode;
s9, repeating S4-S8 by the inspection robot until all inspection images of the pointing device are acquired;
and S10, finishing the inspection by the inspection robot.
Preferably, in step S5, the inspection robot adopts a time difference obtaining method when obtaining an image, and the method specifically includes:
s5.1, the inspection robot shoots an image of one inspection shooting surface;
s5.2, the inspection robot endows an absolute time scale to the shot image of the inspection shooting surface;
s5.3, the inspection robot stores the absolute time scale into the image of the inspection shooting surface to obtain a primary image of the inspection shooting surface;
and S5.4, repeating S5.1-5.3 until all primary images are obtained, wherein each primary image is stored with an absolute time scale.
Preferably, in step S1, each of the inspection planes is further assigned with a weight, the weight is greater than 0 and less than 1, and the weights of the two inspection planes are equal or unequal.
Preferably, in step S6, the inspection robot compresses the primary image by using an empowerment compression method, and the method specifically includes:
s6.1, multiplying the length pixel value and the width pixel value of the primary image by the weight of the inspection shooting surface by the inspection robot to obtain an image weighted pixel value, and obtaining a length weighted pixel value and a width weighted pixel value;
s6.2, the inspection robot compresses the length pixel value and the width pixel value of the primary image to the length weighted pixel value and the width weighted pixel value respectively to obtain a secondary image.
Preferably, in step S7, the image stitching method is adopted when the inspection robot fuses the secondary images, and the specific steps include:
s7.1, arranging the weights of all the inspection shooting surfaces by the inspection robot from top to bottom according to the weight values;
s7.2, the inspection robot groups the arranged weights, the weights with equal values are divided into a group, and all the groups are arranged from top to bottom according to the weight values;
s7.3, splicing the secondary images of the routing inspection shooting surfaces belonging to the same group along the length direction by the routing inspection robot, and splicing the secondary images of the routing inspection shooting surfaces belonging to different groups along the width direction;
and S7.4, the inspection robot puts the spliced images into a blank image, the length pixel value of the blank image is equal to the sum of the length pixel values of all secondary images in the first group, and the width pixel value of the blank image is equal to the sum of the width pixel values of the images in all groups, so that the inspection image is obtained.
Preferably, the inspection robot comprises a camera and a processor electrically connected with the camera, the camera is used for acquiring the primary image, and the processor is used for compressing the primary image into the secondary image and fusing the secondary image into the inspection image.
Preferably, the inspection robot further comprises a wireless sending module electrically connected with the processor, and the processor sends the inspection image to the monitoring center through the wireless sending module.
Preferably, the monitoring center comprises a monitoring host and a wireless receiving module electrically connected with the monitoring host, and the wireless receiving module is wirelessly connected with the wireless transmitting module.
Preferably, the wireless communication mode between the wireless transmitting module and the wireless receiving module is WIFI, 4G mobile communication or 5G mobile communication.
Preferably, the inspection robot further comprises a mechanical arm for moving the camera.
The invention can select different polling shooting surfaces according to the specific situation of the pointing device and set the weight value for each polling shooting surface, so that the images of the polling shooting surfaces can be processed according to the weights of the polling shooting surfaces in the polling process, the images of the polling shooting surfaces with large weights occupy larger areas and the images of the polling shooting surfaces with small weights occupy smaller areas in the finally obtained polling images, thereby realizing the purposes of compressing the size of the polling images and saving the calculation power and the network occupation while ensuring that the state of the pointing device can be accurately detected. In addition, the invention endows the photos of different inspection shooting surfaces with absolute time scales, can clearly show the shooting time of each photo, and can more accurately determine the fault time of certain time-sensitive fixed-point equipment, thereby quickly finding out the fault reason, and realizing the purposes of timely maintenance and avoiding the repeated occurrence of faults.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of a primary image in the present invention;
fig. 3 is a schematic diagram of an inspection image in the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, fig. 1 is a flowchart of the present invention, fig. 2 is a schematic diagram of a primary image in the present invention, and fig. 3 is a schematic diagram of an inspection image in an embodiment of the present invention.
In an embodiment of the present invention, as shown in fig. 1-3, an intelligent inspection method for a pointing device includes an early preparation stage and a later execution stage;
the early preparation phase comprises S1 to S3;
s1, selecting the pointing device to be inspected, setting at least one and at most six inspection shooting surfaces for each pointing device, wherein the selection of the inspection shooting surfaces is based on six directions of the pointing device, at least one of the six inspection shooting surfaces can be selected, at most six inspection shooting surfaces can be selected, as only a part of the pointing devices can shoot in a part of the directions, such as a power transformation box fixed on a wall, and the like, and a part of the pointing devices only need to shoot in a part of the directions, such as the pointing device provided with a shell, and the rear direction of the pointing devices is not needed to be detected. The number of the polling shooting surfaces is flexibly set, so that the data volume of the detection data can be reduced, the calculation complexity is reduced, and the calculation power is saved. In addition, each patrol and examine shooting face and assign a weight, the weight is greater than 0 and less than 1, the weight of two patrol and examine shooting faces equals or is unequal, for example the front of pointing device can reflect the state of pointing device more accurately, then the weight can be set up to 1, and the ability that the side reflects the state of pointing device is weaker, can set up the weight to 0.5. In this embodiment, three polling shooting surfaces can be set for the pointing device, wherein the weight value of one polling shooting surface is 1, and the weight values of the other two polling shooting surfaces are set to 0.5.
S2, setting the routing inspection route according to all the selected pointing devices, wherein the set routing inspection route can pass through all the pointing devices, and a certain space is reserved at each pointing device for the routing inspection robot to stop and shoot, and the routing inspection route is set to be the prior art and is not described again.
And S3, storing the inspection route in the inspection robot.
The post execution stage includes S4 to S10;
and S4, the inspection robot advances along the inspection route.
And S5, the inspection robot reaches the first pointing device on the inspection route, and the image of each inspection shooting surface of the pointing device is obtained and recorded as a primary image. The specific acquisition method adopts a time difference acquisition method, and the steps comprise S5.1-S5.4.
S5.1, the inspection robot shoots one of the images of the inspection shooting surface, the specific selection shooting sequence of the inspection shooting surface does not need to be required, the inspection robot shoots most conveniently, the inspection robot shoots different inspection surfaces simultaneously, the shooting time can be adaptively adjusted, and the adjustment can be carried out according to the difference and the requirement of the pointing device.
And S5.2, the inspection robot assigns an absolute time scale to the shot image of the inspection shooting surface, because the maintenance and troubleshooting of a plurality of fixed point devices need accurate time, each image is assigned with an absolute time scale so as to record the time for shooting the image for specific analysis, and the format of the absolute time scale adopts a time-minute-second format, such as 21:10:35, and represents 21 points, 10 minutes and 35 seconds.
And S5.3, the inspection robot stores the absolute time scale into the image of the inspection shooting surface to obtain a primary image of the inspection shooting surface, and the absolute time scale can be covered at the upper left corner of the image.
And S5.4, repeating S5.1-5.3 until all primary images are obtained, wherein each primary image is stored with an absolute time scale.
And S6, compressing the primary image by the inspection robot to obtain a secondary image. The inspection robot compresses the primary image by adopting an empowerment compression method, and the specific steps comprise S6.1-S6.2.
For example, the resolution of the three acquired primary images is 1920 × 1080, after the resolution is multiplied by the weight, the weighted pixel length value of the primary image with the weight value of 1 is 1920, the weighted width pixel value of 1080, and the weighted pixel length value of the two primary images with the weight value of 0.5 is 960 and the weighted width pixel value of 540.
S6.2, the inspection robot compresses the length pixel value and the width pixel value of the primary image to the length weighted pixel value and the width weighted pixel value respectively to obtain secondary images, and the resolution of the three secondary images is 1920 × 1080, 960 × 540 and 960 × 540 respectively.
And S7, fusing the secondary images by the inspection robot to obtain an inspection image of the pointing device. The inspection robot adopts an image splicing method when fusing the secondary images, and the specific steps comprise S7.1-S7.4.
S7.1, the patrol robot arranges the weights of all patrol shooting surfaces from high to low according to the weight values, namely 1, 0.5 and 0.5.
And S7.2, grouping the arranged weights by the inspection robot, dividing the weights with equal values into a group, and arranging all the groups from top to bottom according to the weight values, namely the weight value of the first group is 1, and the weight value of the second group is 0.5.
S7.3, the inspection robot splices the secondary images of the inspection shooting surfaces belonging to the same group along the length direction, and splices the secondary images of the inspection shooting surfaces belonging to different groups along the width direction, and the first group only corresponds to one secondary image, so that the secondary images do not need to be arranged in parallel, and the second group corresponds to two secondary images, so that the two secondary images are spliced along the length direction, and an image combination with the resolution of 1920 × 540 is obtained.
And S7.4, the inspection robot puts the spliced images into a blank image, the length pixel value of the blank image is equal to the sum of the length pixel values of all secondary images in the first group, and the width pixel value of the blank image is equal to the sum of the width pixel values of the images in all groups, so that an inspection image is obtained, and the inspection image with the resolution of 1920 × 1620 is obtained.
S8, the inspection robot sends the inspection image to the monitoring center in a wireless mode, and a wifi mode or a mobile communication mode can be adopted.
And S9, repeating S4-S8 by the inspection robot until all inspection images of the pointing device are acquired.
And S10, finishing the inspection by the inspection robot.
After the primary inspection, the inspection robot repeats S1-S10 to perform subsequent secondary inspections of the same pointing device for another period of time for state acquisition and image analysis of the pointing device, or primary inspections of other pointing devices.
The inspection robot comprises a camera, a processor electrically connected with the camera and a wireless sending module electrically connected with the processor, wherein the camera is used for acquiring a primary image, the processor is used for compressing the primary image into a secondary image and fusing the secondary image into an inspection image, and the processor sends the inspection image to a monitoring center through the wireless sending module. The existing smart phone has great progress in the aspects of camera quality, processing capability and endurance, so that the smart phone can be directly adopted in practical application. The inspection robot also comprises a mechanical arm used for moving the camera, the mechanical arm is a three-axis mechanical arm, the mechanical arm can be set into a plurality of or one according to the requirements and different requirements of the fixed-point equipment, the inspection robot is a mature existing mechanical design technology, the detailed description is omitted, in addition, the charging of the inspection robot is realized, through the positioning and route planning of the corresponding area, after the inspection robot finishes the task of the first inspection point, the inspection robot enters the next inspection point according to the working instruction of the master control computer, after all the inspection work is finished, the inspection robot can automatically return to the robot base station to perform secondary accurate positioning, the correct butt joint of the charging head of the inspection robot and the charging base station is realized, and the charging is performed.
The monitoring center includes monitoring host computer and the wireless receiving module who is connected with monitoring host computer electricity, wireless receiving module and wireless sending module wireless connection, wireless communication mode between wireless sending module and the wireless receiving module is WIFI, 4G mobile communication or 5G mobile communication, the monitoring center can be to it analysis after obtaining all images of patrolling and examining, the area that fixed point equipment's different side was taken up on every image of patrolling and examining this moment is different in size, the biggest side that is the weight is the highest, can carry out detailed analysis to it, thereby can learn fixed point equipment's state information more accurately, less side that the weight is lower, can carry out simpler analysis to it, thereby practice thrift the calculation power.
The invention can select different polling shooting surfaces according to the specific situation of the pointing device and set the weight value for each polling shooting surface, so that the images of the polling shooting surfaces can be processed according to the weights of the polling shooting surfaces in the polling process, the images of the polling shooting surfaces with large weights occupy larger areas and the images of the polling shooting surfaces with small weights occupy smaller areas in the finally obtained polling images, thereby realizing the purposes of compressing the size of the polling images and saving the calculation power and the network occupation while ensuring that the state of the pointing device can be accurately detected. In addition, the invention endows the photos of different inspection shooting surfaces with absolute time scales, can clearly show the shooting time of each photo, and can more accurately determine the fault time of certain time-sensitive fixed-point equipment, thereby quickly finding out the fault reason, and realizing the purposes of timely maintenance and avoiding the repeated occurrence of faults.
In other embodiments of the present invention, the number of the inspection shooting surfaces may be set to 4, the corresponding weights are 1, 0.5 and 0.4 respectively, and the inspection shooting surfaces are divided into three groups, the first group has a weight of 1, the second group has a weight of 0.5, and the third group has a weight of 0.4, and the resolution of the 4 secondary images is 1920 × 1080, 960 × 540, 960 × and 768 × respectively.
It should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. An intelligent routing inspection method for fixed-point equipment is characterized by comprising an early preparation stage and a later execution stage;
the early preparation phase includes S1 to S3:
s1, selecting the pointing device to be inspected, and setting at least one and at most six inspection shooting surfaces for each pointing device;
s2, setting a routing inspection route according to all selected pointing devices;
s3, storing the inspection route in the inspection robot;
the post execution stage includes S4-S10:
s4, the inspection robot advances along the inspection route;
s5, the inspection robot arrives at a first pointing device on the inspection route, and an image of each inspection shooting surface of the pointing device is obtained and recorded as a primary image;
s6, compressing the primary image by the inspection robot to obtain a secondary image;
s7, fusing the secondary images by the inspection robot to obtain an inspection image of the fixed point equipment;
s8, the inspection robot sends the inspection image to a monitoring center in a wireless mode;
s9, repeating S4-S8 by the inspection robot until all inspection images of the pointing device are acquired;
s10, finishing the inspection by the inspection robot;
in step S1, a weight is further assigned to each inspection shooting surface, the weight value is greater than 0 and less than 1, and the weights of the two inspection shooting surfaces are equal or unequal;
in step S6, the inspection robot compresses the primary image by using an empowerment compression method, and the method specifically includes the steps of:
s6.1, multiplying the length pixel value and the width pixel value of the primary image by the weight of the inspection shooting surface by the inspection robot to obtain an image weighted pixel value, and obtaining a length weighted pixel value and a width weighted pixel value;
s6.2, the inspection robot compresses the length pixel value and the width pixel value of the primary image to a length weighted pixel value and a width weighted pixel value respectively to obtain a secondary image;
in step S7, the inspection robot adopts an image stitching method when fusing the secondary images, and the specific steps include:
s7.1, arranging the weights of all the inspection shooting surfaces by the inspection robot from top to bottom according to the weight values;
s7.2, the inspection robot groups the arranged weights, the weights with equal values are divided into a group, and all the groups are arranged from top to bottom according to the weight values;
s7.3, splicing the secondary images of the routing inspection shooting surfaces belonging to the same group along the length direction by the routing inspection robot, and splicing the secondary images of the routing inspection shooting surfaces belonging to different groups along the width direction;
and S7.4, the inspection robot puts the spliced images into a blank image, the length pixel value of the blank image is equal to the sum of the length pixel values of all secondary images in the first group, and the width pixel value of the blank image is equal to the sum of the width pixel values of the images in all groups, so that the inspection image is obtained.
2. The intelligent inspection method according to claim 1, wherein in the step S5, the inspection robot adopts a time difference obtaining method when obtaining an image, and the specific steps include:
s5.1, the inspection robot shoots an image of one inspection shooting surface;
s5.2, the inspection robot endows an absolute time scale to the shot image of the inspection shooting surface;
s5.3, the inspection robot stores the absolute time scale into the image of the inspection shooting surface to obtain a primary image of the inspection shooting surface;
and S5.4, repeating S5.1-5.3 until all primary images are obtained, wherein each primary image is stored with an absolute time scale.
3. The pointing device intelligent inspection method according to claim 1, wherein the inspection robot includes a camera for acquiring the primary image and a processor electrically connected to the camera for compressing the primary image into the secondary image and fusing the secondary image into the inspection image.
4. The pointing device intelligent inspection method according to claim 3, wherein the inspection robot includes a camera for acquiring the primary image and a processor electrically connected to the camera for compressing the primary image into the secondary image and fusing the secondary image into the inspection image.
5. The intelligent inspection method for the pointing devices according to claim 4, wherein the monitoring center includes a monitoring host and a wireless receiving module electrically connected with the monitoring host, and the wireless receiving module is wirelessly connected with the wireless transmitting module.
6. The intelligent inspection method for the pointing device according to claim 5, wherein the wireless communication mode between the wireless sending module and the wireless receiving module is WIFI, 4G mobile communication or 5G mobile communication.
7. The intelligent inspection method according to claim 3, wherein the inspection robot further includes a robotic arm for moving the camera.
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| CN109005391A (en) * | 2018-09-14 | 2018-12-14 | 四川能投云电科技有限公司 | A kind of camera moving method of detection failure |
| CN110399831B (en) * | 2019-07-25 | 2021-11-12 | 中国银联股份有限公司 | Inspection method and device |
| CN111002287B (en) * | 2019-12-26 | 2021-11-30 | 北京海益同展信息科技有限公司 | Robot, image acquisition method, electronic device, and computer-readable storage medium |
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| CN105282513A (en) * | 2015-10-23 | 2016-01-27 | 国网山西省电力公司大同供电公司 | Device and method for detecting operation state of ultra-high-voltage transformer in transformer substation based on 3D infrared panoramic image |
| CN105856186A (en) * | 2016-04-11 | 2016-08-17 | 上海电力学院 | Transformer substation intelligent patrol robot with mechanical arms and patrol method thereof |
| CN106026393A (en) * | 2016-06-06 | 2016-10-12 | 国家电网公司 | Intelligent line-cruising and operational safety risk prediction system and method for power grid linef |
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